Article Correctness Is Author's Responsibility: Tumor blood vessel detection by a gripping force feedback system

(Kanazawa University) Avoiding unnecessary bleeding during neuroendoscopic surgeries is crucial. When blood vessel location in a tumor cannot be visually confirmed, unintentional damage to the vessel and subsequent bleeding may occur. We propose a method for tumor blood vessel detection using a surgical robot system equipped with a force sensor in the gripper. Using this method, pulsation of a simulated artery inside a simulated tumor was detected by the force sensor, displayed as a gripping force wave.